/*
	Copyright 2022 Benjamin Vedder	benjamin@vedder.se

	This file is part of the VESC firmware.

	The VESC firmware is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    The VESC firmware is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
    */

    #ifndef HW_JetFleetF6_Core_H_
    #define HW_JetFleetF6_Core_H_
    
    // HW properties
    #define HW_HAS_3_SHUNTS
    #define HW_HAS_PHASE_FILTERS
    #define INVERTED_SHUNT_POLARITY
    #define SERVO_BUZZER
    #define HW_USE_BRK
    #define BRK_HIGH
    
    // Macros
    #define LED_GREEN_GPIO			GPIOB
    #define LED_GREEN_PIN			2
    #define LED_RED_GPIO			GPIOA
    #define LED_RED_PIN			    15
    
    #define LED_GREEN_ON()			palSetPad(LED_GREEN_GPIO, LED_GREEN_PIN)
    #define LED_GREEN_OFF()			palClearPad(LED_GREEN_GPIO, LED_GREEN_PIN)
    #define LED_RED_ON()			palSetPad(LED_RED_GPIO, LED_RED_PIN)
    #define LED_RED_OFF()			palClearPad(LED_RED_GPIO, LED_RED_PIN)
    
    // Phase filter
    #define PHASE_FILTER_OFF()		palSetPad(GPIOC, 15); palSetPad(GPIOC, 14); palSetPad(GPIOC, 13)
    #define PHASE_FILTER_ON()		palClearPad(GPIOC, 15); palClearPad(GPIOC, 14); palClearPad(GPIOC, 13)
    
    // AUX 
    #define AUX_GPIO				GPIOC
    #define AUX_PIN					9
    #define AUX_ON()				palSetPad(AUX_GPIO, AUX_PIN)
    #define AUX_OFF()				palClearPad(AUX_GPIO, AUX_PIN)
    
    // Shutdown pin
    #define HW_SHUTDOWN_GPIO		    GPIOB
    #define HW_SHUTDOWN_PIN			    0
    #define HW_SHUTDOWN_SENSE_GPIO		GPIOC
    #define HW_SHUTDOWN_SENSE_PIN		5
    #define HW_SHUTDOWN_HOLD_ON()		palSetPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
    #define HW_SHUTDOWN_HOLD_OFF()		palClearPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
    #define HW_SAMPLE_SHUTDOWN()		hw_sample_shutdown_button()
    
    // ADC Config
    #define HW_ADC_CHANNELS			18
    #define HW_ADC_INJ_CHANNELS		3
    #define HW_ADC_NBR_CONV			6
    
    // ADC Indexes
    #define ADC_IND_SENS1			3
    #define ADC_IND_SENS2			4
    #define ADC_IND_SENS3			5
    #define ADC_IND_CURR1			0
    #define ADC_IND_CURR2			1
    #define ADC_IND_CURR3			2
    #define ADC_IND_VIN_SENS		11
    #define ADC_IND_EXT			    6
    #define ADC_IND_EXT2			7
    #define ADC_IND_SHUTDOWN		10
    #define ADC_IND_TEMP_MOS		8
    //#define ADC_IND_TEMP_MOS_2    15
    #define ADC_IND_TEMP_MOS_3		16
    #define ADC_IND_TEMP_MOTOR		9
    #define ADC_IND_VREFINT			12
    
    // ADC macros and settings
    
    // Component parameters (can be overridden)
    #ifndef V_REG
    #define V_REG				    3.3
    #endif
    #ifndef VIN_R1
    #define VIN_R1				    150000.0
    #endif
    #ifndef CURRENT_AMP_GAIN
    #define CURRENT_AMP_GAIN		20.0
    #endif
    #ifndef CURRENT_SHUNT_RES
    #define CURRENT_SHUNT_RES		(0.0005 / 2.0)
    #endif
    
    // Input voltage
    #define GET_INPUT_VOLTAGE()		((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
    // NTC Termistors
    #define NTC_RES(adc_val)		(10000.0 / ((4095.0 / (float)adc_val) - 1.0))
    #define NTC_TEMP(adc_ind)		hw_JetFleet_get_temp()
    
    #define NTC_RES_MOTOR(adc_val)		(10000.0 / ((4095.0 / (float)adc_val) - 1.0))
    #define NTC_TEMP_MOTOR(beta)		(1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
    
    #define NTC_TEMP_MOS1()			(1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
    //#define NTC_TEMP_MOS2()		(1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_2]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
    #define NTC_TEMP_MOS3()			(1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_3]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
    
    // Voltage on ADC channel
    #define ADC_VOLTS(ch)			((float)ADC_Value[ch] / 4096.0 * V_REG)
    
    // Double samples in beginning and end for positive current measurement.
    // Useful when the shunt sense traces have noise that causes offset.
    
    #ifndef CURR1_DOUBLE_SAMPLE
    #define CURR1_DOUBLE_SAMPLE		0
    #endif
    #ifndef CURR2_DOUBLE_SAMPLE
    #define CURR2_DOUBLE_SAMPLE		0
    #endif
    #ifndef CURR3_DOUBLE_SAMPLE
    #define CURR3_DOUBLE_SAMPLE		0
    #endif
    
    // COMM-port ADC GPIOs
    #define HW_ADC_EXT_GPIO			GPIOA
    #define HW_ADC_EXT_PIN			5
    #define HW_ADC_EXT2_GPIO		GPIOA
    #define HW_ADC_EXT2_PIN			6
    
    
    // ICU Peripheral for servo decoding
    #define HW_USE_SERVO_TIM4
    #define HW_ICU_TIMER			TIM4
    #define HW_ICU_TIM_CLK_EN()		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
    #define HW_ICU_DEV			    ICUD4
    #define HW_ICU_CHANNEL			ICU_CHANNEL_1
    #define HW_ICU_GPIO_AF			GPIO_AF_TIM4
    #define HW_ICU_GPIO			    GPIOB
    #define HW_ICU_PIN			    6
    
    // I2C Peripheral
    #define HW_I2C_DEV			    I2CD2
    #define HW_I2C_GPIO_AF			GPIO_AF_I2C2
    #define HW_I2C_SCL_PORT			GPIOB
    #define HW_I2C_SCL_PIN			12
    #define HW_I2C_SDA_PORT			GPIOC
    #define HW_I2C_SDA_PIN			5
    
    // Hall/encoder pins
    #define HW_HALL_ENC_GPIO1		GPIOC
    #define HW_HALL_ENC_PIN1		6
    #define HW_HALL_ENC_GPIO2		GPIOC
    #define HW_HALL_ENC_PIN2		7
    #define HW_HALL_ENC_GPIO3		GPIOC
    #define HW_HALL_ENC_PIN3		8
    #define HW_ENC_TIM			    TIM3
    #define HW_ENC_TIM_AF			GPIO_AF_TIM3
    #define HW_ENC_TIM_CLK_EN()		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
    #define HW_ENC_EXTI_PORTSRC		EXTI_PortSourceGPIOC
    #define HW_ENC_EXTI_PINSRC		EXTI_PinSource8
    #define HW_ENC_EXTI_CH			EXTI9_5_IRQn
    #define HW_ENC_EXTI_LINE		EXTI_Line8
    #define HW_ENC_EXTI_ISR_VEC		EXTI9_5_IRQHandler
    #define HW_ENC_TIM_ISR_CH		TIM3_IRQn
    #define HW_ENC_TIM_ISR_VEC		TIM3_IRQHandler
    
    // SPI pins
    #define HW_SPI_DEV			    SPID3
    #define HW_SPI_GPIO_AF			GPIO_AF_SPI3
    #define HW_SPI_PORT_NSS			GPIOA
    #define HW_SPI_PIN_NSS			4
    #define HW_SPI_PORT_SCK			GPIOC
    #define HW_SPI_PIN_SCK			10
    #define HW_SPI_PORT_MOSI		GPIOC
    #define HW_SPI_PIN_MOSI			12
    #define HW_SPI_PORT_MISO		GPIOC
    #define HW_SPI_PIN_MISO			11
    
    // I2C for IMU
    #define LSM6DS3_SDA_GPIO		GPIOB
    #define LSM6DS3_SDA_PIN			4
    #define LSM6DS3_SCL_GPIO		GPIOB
    #define LSM6DS3_SCL_PIN			5
    
    //BRK
    #define BRK_GPIO				GPIOB
    #define BRK_PIN					12
    
    // UART Peripheral
    #define HW_UART_DEV		        SD4
    #define HW_UART_GPIO_AF		    GPIO_AF_UART4
    #define HW_UART_TX_PORT		    GPIOC
    #define HW_UART_TX_PIN		    10
    #define HW_UART_RX_PORT		    GPIOC
    #define HW_UART_RX_PIN		    11
    
    // Permanent UART Peripheral (for NRF52)
    #define HW_UART_P_BAUD		    115200
    #define HW_UART_P_DEV			SD3
    #define HW_UART_P_GPIO_AF		GPIO_AF_USART3
    #define HW_UART_P_TX_PORT		GPIOB
    #define HW_UART_P_TX_PIN		10
    #define HW_UART_P_RX_PORT	    GPIOB
    #define HW_UART_P_RX_PIN		11
    
    // Measurement macros
    #define ADC_V_L1				ADC_Value[ADC_IND_SENS1]
    #define ADC_V_L2				ADC_Value[ADC_IND_SENS2]
    #define ADC_V_L3				ADC_Value[ADC_IND_SENS3]
    #define ADC_V_ZERO				(ADC_Value[ADC_IND_VIN_SENS] / 2)
    
    // Macros
    #define READ_HALL1()			palReadPad(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1)
    #define READ_HALL2()			palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
    #define READ_HALL3()			palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
    
    // Override dead time. See the stm32f4 reference manual for calculating this value.
    #define HW_DEAD_TIME_NSEC		450.0
    
    // Default setting overrides
    #ifndef MCCONF_L_MIN_VOLTAGE
    #define MCCONF_L_MIN_VOLTAGE			20.0		// Minimum input voltage
    #endif
    
    #ifndef MCCONF_DEFAULT_MOTOR_TYPE
    #define MCCONF_DEFAULT_MOTOR_TYPE		MOTOR_TYPE_FOC
    #endif
    #ifndef MCCONF_FOC_F_ZV
    #define MCCONF_FOC_F_ZV				    30000.0
    #endif
    
    #ifndef MCCONF_FOC_SAMPLE_V0_V7
    #define MCCONF_FOC_SAMPLE_V0_V7			false	// Run control loop in both v0 and v7 (requires phase shunts)
    #endif
    #ifndef MCCONF_L_IN_CURRENT_MAX
    #define MCCONF_L_IN_CURRENT_MAX			50.0	// Input current limit in Amperes (Upper)
    #endif
    #ifndef MCCONF_L_IN_CURRENT_MIN
    #define MCCONF_L_IN_CURRENT_MIN			-20.0	// Input current limit in Amperes (Lower)
    #endif
    
    // Setting limits
    #define HW_LIM_CURRENT_IN		-150.0, 150.0
    
    
    #define HW_LIM_ERPM			    -200e3, 200e3
    #define HW_LIM_DUTY_MIN			0.0, 0.1
    #define HW_LIM_DUTY_MAX			0.0, 0.95
    #define HW_LIM_TEMP_FET			-40.0, 100.0
    
    // Functions
    float hw_JetFleet_get_temp(void);
    bool hw_sample_shutdown_button(void);
    void buzzer_init(void);
    
    #define HW_EARLY_INIT()    buzzer_init()
    
    #endif /* HW_JetFleetF6_Core_H_ */